77 lines
2.2 KiB
C++
77 lines
2.2 KiB
C++
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/*
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* Copyright (C) 2013 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifdef _WIN32
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// Ensure that Winsock2.h is included before Windows.h, which can get
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// pulled in by anybody (e.g., Boost).
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#include <Winsock2.h>
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#endif
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#include "gazebo/physics/PhysicsIface.hh"
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#include "BreakableJointPlugin.hh"
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using namespace gazebo;
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// Register this plugin with the simulator
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GZ_REGISTER_SENSOR_PLUGIN(BreakableJointPlugin)
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/////////////////////////////////////////////////
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BreakableJointPlugin::BreakableJointPlugin()
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: breakingForce(1.0)
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{
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}
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/////////////////////////////////////////////////
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BreakableJointPlugin::~BreakableJointPlugin()
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{
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}
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/////////////////////////////////////////////////
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void BreakableJointPlugin::Load(sensors::SensorPtr _parent,
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sdf::ElementPtr _sdf)
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{
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ForceTorquePlugin::Load(_parent, _sdf);
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std::string paramName = "breaking_force_N";
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if (_sdf->HasElement(paramName))
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this->breakingForce = _sdf->Get<double>(paramName);
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this->parentJoint = this->parentSensor->Joint();
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}
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/////////////////////////////////////////////////
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void BreakableJointPlugin::OnUpdate(msgs::WrenchStamped _msg)
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{
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if (this->parentJoint)
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{
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ignition::math::Vector3d force = msgs::ConvertIgn(_msg.wrench().force());
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if (force.Length() > this->breakingForce)
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{
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this->worldConnection = event::Events::ConnectWorldUpdateBegin(
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boost::bind(&BreakableJointPlugin::OnWorldUpdate, this));
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}
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}
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}
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/////////////////////////////////////////////////
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void BreakableJointPlugin::OnWorldUpdate()
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{
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this->parentSensor->SetActive(false);
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this->parentJoint->Detach();
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this->parentJoint->SetProvideFeedback(false);
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event::Events::DisconnectWorldUpdateBegin(this->worldConnection);
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}
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